Cartographer 2.map_limits.h

最新推荐文章于 2023-04-22 16:30:31 发布

原创

最新推荐文章于 2023-04-22 16:30:31 发布 · 619 阅读

1 ·

CC 4.0 BY-SA版权

博客详细探讨了Cartographer框架中map_limits.h文件的作用和重要性，揭示了如何设置地图限制以优化定位和导航性能。

/*
 * Copyright 2016 The Cartographer Authors
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *      http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

#ifndef CARTOGRAPHER_MAPPING_2D_MAP_LIMITS_H_
#define CARTOGRAPHER_MAPPING_2D_MAP_LIMITS_H_

#include <utility>
#include <vector>

#include "Eigen/Core"
#include "Eigen/Geometry"
#include "cartographer/common/math.h"
#include "cartographer/mapping/trajectory_node.h"
#include "cartographer/mapping_2d/proto/map_limits.pb.h"
#include "cartographer